Trajectory Tracking Control with Estimated Driving Force for Tracked Vehicle Using Disturbance Observer and Machine Learning

Hiroaki Kuwahara; Toshiyuki Murakami

doi:10.1109/ISIE45552.2021.9576259

Trajectory Tracking Control with Estimated Driving Force for Tracked Vehicle Using Disturbance Observer and Machine Learning

Hiroaki Kuwahara, Toshiyuki Murakami

システムデザイン工学科

研究成果: Conference contribution

1 被引用数 (Scopus)

抄録

This paper proposes a tracking control method that suppresses slippage by using the driving force of a tracked vehicle. First, the velocity of the tracked vehicle including slippage is estimated using a disturbance observer and machine learning technique. This estimated velocity is utilized to design an observer that can estimate the driving force of the crawler. By distributing and controlling the driving force, tracking control with reduced slippage can be realized. The experimental results demonstrate the tracking performance of the proposed control system.

本文言語	English
ホスト出版物のタイトル	Proceedings of 2021 IEEE 30th International Symposium on Industrial Electronics, ISIE 2021
出版社	Institute of Electrical and Electronics Engineers Inc.
ISBN（電子版）	9781728190235
DOI	https://doi.org/10.1109/ISIE45552.2021.9576259
出版ステータス	Published - 2021 6月 20
イベント	30th IEEE International Symposium on Industrial Electronics, ISIE 2021 - Kyoto, Japan 継続期間: 2021 6月 20 → 2021 6月 23

出版物シリーズ

名前	IEEE International Symposium on Industrial Electronics
巻	2021-June

Conference

Conference	30th IEEE International Symposium on Industrial Electronics, ISIE 2021
国/地域	Japan
City	Kyoto
Period	21/6/20 → 21/6/23

ASJC Scopus subject areas

電子工学および電気工学
制御およびシステム工学

文献へのアクセス

10.1109/ISIE45552.2021.9576259

他のファイルとリンク

フィンガープリント

「Trajectory Tracking Control with Estimated Driving Force for Tracked Vehicle Using Disturbance Observer and Machine Learning」の研究トピックを掘り下げます。これらがまとまってユニークなフィンガープリントを構成します。

引用スタイル

Kuwahara, H., & Murakami, T. (2021). Trajectory Tracking Control with Estimated Driving Force for Tracked Vehicle Using Disturbance Observer and Machine Learning. In Proceedings of 2021 IEEE 30th International Symposium on Industrial Electronics, ISIE 2021 (IEEE International Symposium on Industrial Electronics; Vol. 2021-June). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ISIE45552.2021.9576259

Trajectory Tracking Control with Estimated Driving Force for Tracked Vehicle Using Disturbance Observer and Machine Learning. / Kuwahara, Hiroaki; Murakami, Toshiyuki.
Proceedings of 2021 IEEE 30th International Symposium on Industrial Electronics, ISIE 2021. Institute of Electrical and Electronics Engineers Inc., 2021. (IEEE International Symposium on Industrial Electronics; Vol. 2021-June).

研究成果: Conference contribution

Kuwahara, H & Murakami, T 2021, Trajectory Tracking Control with Estimated Driving Force for Tracked Vehicle Using Disturbance Observer and Machine Learning. in Proceedings of 2021 IEEE 30th International Symposium on Industrial Electronics, ISIE 2021. IEEE International Symposium on Industrial Electronics, vol. 2021-June, Institute of Electrical and Electronics Engineers Inc., 30th IEEE International Symposium on Industrial Electronics, ISIE 2021, Kyoto, Japan, 21/6/20. https://doi.org/10.1109/ISIE45552.2021.9576259

Kuwahara H, Murakami T. Trajectory Tracking Control with Estimated Driving Force for Tracked Vehicle Using Disturbance Observer and Machine Learning. In Proceedings of 2021 IEEE 30th International Symposium on Industrial Electronics, ISIE 2021. Institute of Electrical and Electronics Engineers Inc. 2021. (IEEE International Symposium on Industrial Electronics). doi: 10.1109/ISIE45552.2021.9576259

Kuwahara, Hiroaki ; Murakami, Toshiyuki. / Trajectory Tracking Control with Estimated Driving Force for Tracked Vehicle Using Disturbance Observer and Machine Learning. Proceedings of 2021 IEEE 30th International Symposium on Industrial Electronics, ISIE 2021. Institute of Electrical and Electronics Engineers Inc., 2021. (IEEE International Symposium on Industrial Electronics).

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